IQ.Pilot Release Commit @ 3fe374f

iqpilot/system/webrtc/tests/test_rtc.py

@@ -0,0 +1,116 @@
+import pytest
+
+from iqpilot.system.webrtc.rtc.info import parse_info_from_offer
+from iqpilot.system.webrtc.rtc.stream import WebRTCBaseStream
+from iqpilot.system.webrtc.rtc.tracks import TiciTrackWrapper, TiciVideoStreamTrack, parse_video_track_id, video_track_id
+
+
+def sdp_with_media(media):
+  mids = " ".join(str(i) for i in range(len(media)))
+  sections = []
+  for index, (kind, direction) in enumerate(media):
+    if kind == "video":
+      payload, mapping = "96", "H264/90000"
+      protocol = "UDP/TLS/RTP/SAVPF"
+    elif kind == "audio":
+      payload, mapping = "111", "opus/48000/2"
+      protocol = "UDP/TLS/RTP/SAVPF"
+    else:
+      sections.extend([
+        "m=application 9 UDP/DTLS/SCTP webrtc-datachannel",
+        "c=IN IP4 0.0.0.0",
+        f"a=mid:{index}",
+        "a=sctp-port:5000",
+      ])
+      continue
+    sections.extend([
+      f"m={kind} 9 {protocol} {payload}",
+      "c=IN IP4 0.0.0.0",
+      f"a=mid:{index}",
+      f"a={direction}",
+      f"a=rtpmap:{payload} {mapping}",
+      "a=rtcp-mux",
+    ])
+  lines = [
+    "v=0",
+    "o=- 1 1 IN IP4 0.0.0.0",
+    "s=-",
+    "t=0 0",
+    f"a=group:BUNDLE {mids}",
+    *sections,
+  ]
+  return "\r\n".join(lines) + "\r\n"
+
+
+@pytest.mark.parametrize("direction,expected_outgoing,expected_incoming", [
+  ("recvonly", True, False),
+  ("sendonly", False, True),
+  ("sendrecv", True, True),
+  ("inactive", False, False),
+])
+def test_audio_directions(direction, expected_outgoing, expected_incoming):
+  info = parse_info_from_offer(sdp_with_media([("audio", direction)]))
+  assert info.expected_audio_track == expected_outgoing
+  assert info.incoming_audio_track == expected_incoming
+
+
+def test_video_and_data_channel_metadata():
+  info = parse_info_from_offer(sdp_with_media([
+    ("video", "recvonly"),
+    ("video", "sendrecv"),
+    ("application", "sendrecv"),
+  ]))
+  assert info.n_expected_camera_tracks == 2
+  assert info.incoming_datachannel
+
+
+def test_explicit_empty_ice_servers_disable_defaults():
+  assert WebRTCBaseStream._make_ice_servers([]) == []
+
+
+def test_default_ice_server():
+  servers = WebRTCBaseStream._make_ice_servers(None)
+  assert len(servers) == 1
+  assert servers[0].hostname == "stun.l.google.com"
+  assert servers[0].port == 19302
+
+
+def test_authenticated_ice_servers():
+  servers = WebRTCBaseStream._make_ice_servers([{
+    "urls": ["turn:relay.example.com:3478", "stun:stun.example.com:3478"],
+    "username": "user",
+    "credential": "secret",
+  }])
+  assert [(server.hostname, server.port) for server in servers] == [
+    ("relay.example.com", 3478),
+    ("stun.example.com", 3478),
+  ]
+  assert all(server.username == "user" and server.password == "secret" for server in servers)
+
+
+def test_track_id_roundtrip():
+  assert parse_video_track_id(video_track_id("driver", "track")) == ("driver", "track")
+
+
+def test_invalid_track_id():
+  with pytest.raises(ValueError):
+    parse_video_track_id("driver")
+
+
+def test_track_wrapper_preserves_camera():
+  class Track:
+    kind = "video"
+    id = "source"
+
+    async def recv(self):
+      return b"frame"
+
+  wrapper = TiciTrackWrapper("road", Track())
+  assert parse_video_track_id(wrapper.id)[0] == "road"
+  wrapper.stop()
+  assert wrapper.readyState == "ended"
+
+
+def test_track_stores_frame_period():
+  track = TiciVideoStreamTrack("wideRoad", 0.05)
+  assert track._dt == 0.05